Sensing device capable of detecting hardness, mobile device having the same, and three-dimensional printing apparatus using the same

ABSTRACT

A sensing device capable of detecting hardness includes a sensor array including a plurality of sensors, each of the plurality of sensors including a transmitter configured to emit a detection wave and a receiver configured to receive a reflected detection wave reflected by an object, the plurality of sensors arranged in a matrix form; and a controller configured to obtain image information and hardness information of each portion of the object from the reflected waves received by the plurality of sensors, and to form three-dimensional print data by mapping the image information and the hardness information.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based on and claims priority under 35 U.S.C. § 119to Korean Patent Application No. 10-2016-0011452 filed Jan. 29, 2016 inthe Korean Intellectual Property Office, the disclosure of which isincorporated by reference herein in its entirety.

BACKGROUND

1. Field

The present disclosure relates generally to a sensing device capable ofobtaining three-dimensional print data and a three-dimensional printingapparatus using the same. For example, the present disclosure relates toa sensing device capable of hardness detection that can obtainthree-dimensional print data including hardness information, a mobiledevice having the same, and a three-dimensional printing apparatus usingthe same.

2. Description of Related Art

According to the development of electronic technology, an imaging deviceor a sensing device capable of obtaining a three dimensional image of anobject has been developed and widely used.

However, a conventional sensing device capable of obtaining athree-dimensional image cannot obtain information about hardness orstiffness of the object, that is, a degree of hardness or stiffness ofthe object.

Accordingly, when a three-dimensional image obtained by the conventionalsensing device is printed using a three-dimensional printing apparatus,an output having the same shape as the object can be obtained. However,since the hardness information of the object is not included in thethree-dimensional image data of the object obtained by the conventionalsensing device, the output of the object is formed such that allportions of the output have the same hardness.

For example, when a three-dimensional image of an apple is obtained bythe conventional sensing device and is printed by the conventionalthree-dimensional printing apparatus, an output having a shape similarto that of the captured apple may be obtained. The printed apple isformed of a material having a single hardness.

However, since peel, pulp, and seeds of a real apple are different inthe hardness, there is a problem that an apple having similar hardnessto the real apple cannot be formed by the three-dimensional image andthe three-dimensional printing apparatus according to the related art.

In other words, there is a problem in that when an object is composed ofparts having various hardness, the conventional sensing device capableof obtaining a three-dimensional image may not recognize hardness ofvarious portions of the object.

SUMMARY

The present disclosure has been developed to address the above drawbacksand other problems associated with the conventional arrangement. Anexample aspect of the present disclosure relates a sensing devicecapable of detecting hardness that can obtain three-dimensional printdata including hardness information, a mobile device having the same,and a three-dimensional printing apparatus using the same.

According to an example aspect of the present disclosure, a sensingdevice capable of detecting hardness may include a sensor arrayincluding a plurality of sensors arranged in a matrix form; and acontroller configured to obtain image information and hardnessinformation of each portion of an object from reflected waves receivedby the plurality of sensors, and to form three-dimensional print data bymapping the image information and the hardness information.

The plurality of sensors of the sensor array may be arranged in a plane.

The plurality of sensors of the sensor array may be arranged in a hollowcylindrical shape.

The sensor array may include a plurality of sensors provided to coverone end of the hollow cylindrical shape.

The sensing device capable of detecting hardness may include a pluralityof camera modules provided in the sensor array, wherein the controllermay be configured to obtain color information of each portion of theobject from the plurality of camera modules.

The sensor array may include a plurality of first sensors configured toemit a first detection wave, and a plurality of second sensorsconfigured to emit a second detection wave different from the firstdetection wave.

The first detection wave may include a terahertz wave, and the seconddetection wave may include an ultrasonic wave.

The controller may be configured to form the three-dimensional printdata by mapping the image information, the hardness information, and thecolor information, and to store the three-dimensional print data.

Each of the plurality of sensors may be configured to emit a detectionwave including one or more of a terahertz wave, a millimeter wave, andan ultrasonic wave.

According to another example aspect of the present disclosure, a mobiledevice may include a camera module; a sensor array disposed adjacent tothe camera module and comprising a plurality of sensors arranged in amatrix form; and a controller configured to obtain image information andhardness information of each portion of an object from reflected wavesreceived by the plurality of sensors, to obtain color information ofeach portion of the object from the camera module, and to formthree-dimensional print data by mapping the image information, thehardness information, and the color information.

The controller may be configured to store the three-dimensional printdata formed by the print data processor.

The mobile device may include a cylindrical sensor array detachablyconnected to the mobile device.

The cylindrical sensor array may include a plurality of camera modules.The mobile device may include an ultrasonic sensor array unit detachablyconnected to the mobile device.

According to another example aspect of the present disclosure, athree-dimensional printing apparatus may include a receiver including areceiving circuit configured to receive three-dimensional print datafrom a sensing device capable of detecting hardness; a print controllerconfigured to analyze the three-dimensional print data received by thereceiving circuit; a material mixer configured to form a materialcorresponding to an analysis result of the print controller; and a printhead configured to form a shape corresponding to the receivedthree-dimensional print data using the material supplied from thematerial mixer, wherein the sensing device capable of detecting hardnessincludes a sensor array including a plurality of sensors arranged in amatrix form; and a controller configured to obtain image information andhardness information of each portion of an object from reflected wavesreceived by the plurality of sensors, and to form three-dimensionalprint data by mapping image information and hardness information.

The material mixer may include a material selecting portion configuredto supply a material having hardness corresponding to the analysisresult of the print controller; a color selecting portion configured tosupply a pigment having a color corresponding to the analysis result ofthe print controller; and a mixing portion configured to form a materialhaving color and hardness corresponding to the analysis result of theprint controller by mixing the material supplied from the materialselecting portion and the pigment supplied from the color selectingportion.

The material selecting portion may include a plurality of materialcartridges accommodating materials having different hardness.

The color selecting portion may include a plurality of pigmentcartridges accommodating pigments having different colors.

The receiver may be configured to receive the three-dimensional printdata from a cloud or a Web hard disk.

Other objects, advantages and salient features of the present disclosurewill become apparent from the following detailed description, which,taken in conjunction with the annexed drawings, discloses variousexample embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects, features and advantages of the presentdisclosure will become apparent and more readily appreciated from thefollowing detailed description, taken in conjunction with theaccompanying drawings, in which like reference numerals refer to likeelements, and wherein:

FIG. 1 is a diagram illustrating a perspective view of an examplesensing device capable of detecting hardness according to an exampleembodiment of the present disclosure;

FIG. 2 is a block diagram illustrating an example sensing device capableof detecting hardness according to an example embodiment of the presentdisclosure;

FIG. 3 is a perspective view illustrating an example sensing devicecapable of detecting hardness according to another example embodiment ofthe present disclosure;

FIG. 4 is a perspective view illustrating an example sensing devicecapable of detecting hardness according to another example embodiment ofthe present disclosure;

FIG. 5 is a block diagram illustrating an example sensing device capableof detecting hardness according to another example embodiment of thepresent disclosure;

FIG. 6 is a diagram illustrating an example sensing device capable ofdetecting hardness according to another example embodiment of thepresent disclosure;

FIG. 7 is a perspective view illustrating an example sensing devicecapable of detecting hardness according to another example embodiment ofthe present disclosure;

FIG. 8 is a diagram illustrating an example mobile device including asensing device capable of detecting hardness according to an exampleembodiment of the present disclosure;

FIG. 9 is a perspective view illustrating an example ultrasonic sensorarray that can be used in the mobile device of FIG. 8;

FIG. 10 is a diagram illustrating example coordinates of athree-dimensional image obtained by a sensing device capable ofdetecting hardness according to an example embodiment of the presentdisclosure;

FIG. 11 is a diagram illustrating an example three-dimensional printingapparatus that can output a three-dimensional image including hardnessinformation obtained by a sensing device capable of detecting hardnessaccording to an example embodiment of the present disclosure;

FIG. 12 is a block diagram illustrating the example three-dimensionalprinting apparatus of FIG. 11;

FIG. 13 is a perspective view illustrating a half of an apple printed bythe example three-dimensional printing apparatus of FIG. 11; and

FIG. 14 is a perspective view illustrating an apple printed by theexample three-dimensional printing apparatus of FIG. 11.

Throughout the drawings, like reference numerals will be understood torefer to like parts, components and structures.

DETAILED DESCRIPTION

Hereinafter, various example embodiments of the present disclosure willbe described in greater detail with reference to the accompanyingdrawings.

The matters disclosed herein, such as a detailed construction andelements thereof, are provided to aid in a comprehensive understandingof this description. Thus, it is apparent that example embodiments maybe carried out without those defined matters. Also, well-known functionsor constructions may be omitted to provide a clear and concisedescription of example embodiments. Further, dimensions of variouselements in the accompanying drawings may be arbitrarily increased ordecreased to aid in a comprehensive understanding.

The terms “first”, “second”, etc. may be used to describe diversecomponents, but the components are not limited by the terms. The termsare only used to distinguish one component from the others.

The terms used in the present description are used to describe theexample embodiments, but are not intended to limit the scope of thedisclosure. The singular expression also includes the plural meaning solong as it does not conflict with the context. In the presentdescription, the terms “include” and “consist of” designate the presenceof features, numbers, steps, operations, components, elements, or acombination thereof that are written in the description, but do notexclude the presence or possibility of addition of one or more otherfeatures, numbers, steps, operations, components, elements, or acombination thereof.

In the various example embodiments of the present disclosure, a “module”or a “unit” performs at least one function or operation, and may beimplemented with hardware, software, or a combination of hardware andsoftware. In addition, a plurality of “modules” or a plurality of“units” may be integrated into at least one module except for a “module”or a “unit” which has to be implemented with specific hardware, and maybe implemented with various processing circuitry, such as, for example,and without limitation, at least one processor (not shown).

The terms and words used in the following description and claims are notlimited to the bibliographical meanings, but, are merely used to enablea clear and consistent understanding of the present disclosure.Accordingly, it should be apparent to those skilled in the art that thefollowing description of various example embodiments of the presentdisclosure is provided for illustration purpose only and not for thepurpose of limiting the present disclosure as defined by the appendedclaims and their equivalents.

FIG. 1 is a diagram illustrating a perspective view of an examplesensing device capable of detecting hardness according to an exampleembodiment of the present disclosure. FIG. 2 is a block diagramillustrating an example sensing device capable of detecting hardnessaccording to an example embodiment of the present disclosure.

Referring to FIGS. 1 and 2, a sensing device capable of detectinghardness 10 according to an example embodiment of the present disclosuremay include a sensor array 11 and a controller (e.g., includingprocessing circuitry) 20.

The sensor array 11 includes a plurality of sensors 12 capable ofemitting a detection wave toward a target object 1. The plurality ofsensors 12 may be arranged in a matrix form.

In an example embodiment as illustrated in FIG. 1, the plurality ofsensors 12 of the sensor array 11 are arranged in a hollow cylindricalshape. Each of the plurality of sensors 12 may be provided to emit adetection wave in a horizontal direction toward the center line of thehollow cylinder. The target object 1 whose a three-dimensional image andhardness are photographed and detected by the sensing device capable ofdetecting hardness 10 may be positioned at the center line of the hollowcylinder. In FIG. 1, five sensors 12 are arranged in the longitudinaldirection of the hollow cylinder, and eighteen sensors 12 are arrangedin the circumferential direction of the hollow cylinder. However, thisis only an example, and the arrangement of the plurality of sensors 12is not limited thereto. FIG. 1 illustrates an example where the sensorarray 11 photographs a half of an apple as the target object 1.

The plurality of sensors 12 may all include the same type of sensors.Each of the sensors 12 may include a transmitter 12-1 and a receiver12-2. The transmitter 12-1 of the sensor 12 emits a detection wave underthe control of a sensor controller 21, and the receiver 12-2 receives areflected wave of the detection wave reflected from the object 1. Forexample, the reflected wave refers to the detection wave emitted fromthe transmitter 12-1 that is reflected by the object 1, and then isintroduced into the receiver 12-2.

The controller 20 is configured to control the plurality of sensors 12of the sensor array 11 to emit detection waves and to formthree-dimensional print data including hardness information using thereceived reflected wave, and may include the sensor controller 21, animage processor 22, a hardness processor 23, a print data processor 24,an input-output unit (e.g., including input-output circuitry) 25, and amemory 26.

The controller 20 may include various electronic components such as, forexample, and without limitation, processing circuitry, an ASIC, a ROM, aRAM, etc., and may be provided in a ring shape at one end of the sensorarray 11.

The sensor controller 21 may include various circuitry and/or programmodule(s) configured to control the transmitters 12-1 of the pluralityof sensors 12 based on a command input through the input-output unit 25,so that each of the plurality of sensors 12 emits the detection wave.The sensor controller 21 may be configured such that the transmitter12-1 of the sensor 12 performs frequency sweep of the detection wavesand the receiver 12-2 thereof receives the reflected waves based on thefrequency sweep.

The detection wave may include a wave having a property of beingreflected by an object 1 and returning toward the transmitter 12-1. Forexample, the detection wave may include a terahertz wave, a millimeterwave, an ultrasonic wave, a light, or the like, but is not limitedthereto. Accordingly, the plurality of sensors 12 of the sensor array 11may include a terahertz wave sensor configured to emit a terahertz waveand to receive the terahertz wave reflected by an object, a millimeterwave sensor configured to emit a millimeter wave and to receive themillimeter wave reflected by the object, an ultrasonic wave sensorconfigured to emit an ultrasonic wave and to receive the ultrasonic wavereflected by the object, or the like, but is not limited thereto. Forexample, when the frequency sweep is performed using a terahertz wave ora millimeter wave, the internal structure of the object may berecognized by analyzing the received reflected wave.

The image processor 22 may include various circuitry and/or programmodule(s) configured to obtain image information of each portion of thetarget object 1 from the reflected waves received by the receivers 12-2of the plurality of sensors 12. The image processor 22 may form an imageof the target object 1 from the image information of each portion of thetarget object 1 obtained by the plurality of receivers 12-2. The imageprocessor 22 may recognize three-dimensional coordinates of imageinformation of each portion of the target object 1. Accordingly, theimage processor 22 may form, for example, a voxel-shaped image dataincluding three dimensional coordinates of each portion of the targetobject 1 and the image information of the each portion. That the imageprocessor 22 forms the image of the target object 1 using the receivedreflected waves will be understood by one or ordinary skill in the art;therefore, a detailed description thereof is omitted.

The hardness processor 23 may include various circuitry and/or programmodule(s) configured to obtain hardness information of each portion ofthe target object 1 from the reflected waves received by the receivers12-2 of the plurality of sensors 12. The magnitude of the reflected wavethat the detection wave is reflected on the target object 1, forexample, the amplitude of the reflected wave may change based on thehardness of a portion of the target object 1 on which the detection waveis reflected. Accordingly, when the magnitude of the reflected wave isdetected, the hardness of the reflected portion of the target object 1may be detected. The relationship between the hardness of the object 1reflecting the detection wave and the magnitude of the reflected wave isdetermined based on a type of the detection wave. The relationshipbetween the hardness of objects and the magnitude of the reflected wavemay be stored in advance in the hardness processor 23. Accordingly, thehardness processor 23 may determine hardness data including threedimensional coordinates of each portion of the target object 1 andhardness information of the each portion.

The print data processor 24 may include various circuitry and/or programmodule(s) configured to form three-dimensional print data by mapping theimage data obtained from the image processor 22 and the hardness dataobtained from the hardness processor 23. For example, the print dataprocessor 24 may combine the coordinates of each portion of thethree-dimensional image with hardness information corresponding to thecoordinates to form three-dimensional print data including the hardnessinformation.

As another example, when terahertz wave sensors or millimeter wavesensors are used as the plurality of sensors 12 and the frequency sweepis performed, the print data processor 24 may be configured to recognizethe target object 1 by extracting the characteristic of the spectrum ofthe received reflected wave and comparing the characteristic of thespectrum with the database. Further, the print data processor 24 may beconfigured to include characteristics of the target object 1 recognizedfrom the database, for example, texture, moisture, color, permittivity,etc. of the target object 1 in the three-dimensional print data. Thedatabase may include the characteristics of the spectrum of the receivedreflected wave when a frequency sweep is performed, for example, withthe terahertz wave or the millimeter wave with respect to variousobjects. Also, the database may include texture, moisture, color,permittivity, etc. of each of the various objects.

The input-output unit 25 may include various input-output circuitryconfigured to output the three-dimensional print data formed by theprint data processor 24 to the outside. Also, the input-output unit 25may be configured to receive an operation command of the sensing device10 input from the outside.

The input-output unit 25 may be connected to an external devicewirelessly or by wire. For example, the input-output unit 25 may beconnected to a personal computer or a mobile device by wire orwirelessly. The mobile device may include a notebook computer, a tabletcomputer, a smartphone, or the like, but is not limited thereto. In thiscase, the three-dimensional print data formed by the print dataprocessor 24 may be stored in the external device. FIG. 1 illustrates anexample in which a USB cable 29 is connected to the input-output unit 25of the controller 20.

The input-output unit 25 may be configured to be directly connected to acloud and a Web hard disk via the internet. In this case, thethree-dimensional print data provided by the print data processor 24 maybe stored in the cloud or the Web hard disk.

As another example, the input-output unit 25 may be configured to bedirectly connected to a three-dimensional printing apparatus 300 (seeFIG. 11). In this case, the three-dimensional print data provided by theprint data processor 24 may be directly printed through thethree-dimensional printing apparatus 300.

The memory 26 may be configured to store the three-dimensional printdata provided by the print data processor 24. Accordingly, thethree-dimensional print data provided by the print data processor 24 maybe stored in the memory 26 without being output to the outside. Further,the three-dimensional print data stored in the memory 26 may betransmitted to the external device, the cloud, the web hard disk, andthe three-dimensional printing apparatus through the input-output unit25.

Also, the sensing device capable of detecting hardness 10 according toan example embodiment of the present disclosure may further include apower supply 27. The power supply 27 may supply power to the pluralityof sensors 12 of the sensor array 11 and to the portions of thecontroller 20. A battery may, for example, be used as the power supply27. As another example, it is also possible to supply power to theplurality of sensors 12 and the controller 20 through the input-outputunit 25 from the outside.

In the above description, the sensor array 11 is formed, for example, asa hollow cylindrical shape. However, the sensor array 11 may be formedin a shape which one end of a hollow cylinder is covered, for example, acylindrical container shape, as illustrated in FIG. 3.

FIG. 3 is a perspective view illustrating an example sensing device 10′capable of detecting hardness according to another example embodiment ofthe present disclosure, and illustrates an example in which the sensorarray is formed in a cylindrical container shape.

A sensor array 11′ as illustrated in FIG. 3 is the same as the sensorarray 11 as illustrated in FIG. 1 except that a cover portion 30 isprovided at one end of the sensor array 11 of the hollow cylindricalshape illustrated in FIG. 1.

A plurality of sensors 31 may be of the same type as the plurality ofsensors 12 arranged on the side surface of the cylindrical container aredisposed concentrically on the cover portion 30. Accordingly, it ispossible to detect not only the periphery of a target object located atthe center of the sensor array 11′ as illustrated in FIG. 3, but alsothe upper portion of the target object.

FIG. 4 is a perspective view illustrating an example sensing devicecapable of detecting hardness according to another example embodiment ofthe present disclosure, and FIG. 5 is a block diagram illustrating anexample sensing device capable of detecting hardness according toanother example embodiment of the present disclosure.

Referring to FIGS. 4 and 5, a sensing device capable of detectinghardness 40 may include a sensor array 41 and a controller 50.

The sensor array 41 may include a plurality of sensors 42 capable ofemitting a detection wave toward a target object and a plurality ofcamera modules 45. The plurality of sensors 42 may be arranged in amatrix form.

In an example embodiment as illustrated in FIG. 4, the plurality ofsensors 42 of the sensor array 41 are arranged in a hollow cylindricalshape. Each of the plurality of sensors 42 may be disposed to emit adetection wave in a horizontal direction toward the center line of thehollow cylinder. In FIG. 4, five sensors 42 are arranged in thelongitudinal direction of the hollow cylinder, and eighteen sensors 42are arranged in the circumferential direction of the hollow cylinder.However, this is only an example, and the arrangement of the pluralityof sensors 42 is not limited thereto.

The plurality of sensors 42 of the sensor array 11 are the same as orsimilar to the plurality of sensors 12 of the sensing device capable ofdetecting hardness 10 according to the above-described exampleembodiment; therefore, a detailed description thereof is omitted.

Further, the plurality of camera modules 45 may be disposed in thesensor array 41 to capture a three-dimensional image of the targetobject located, for example, at the center of the sensor array 41. Thesensing device capable of detecting hardness 40 according to an exampleembodiment of the present disclosure may detect color information of thetarget object using the plurality of camera modules 45.

The controller 50 may include various processing circuitry and isconfigured to control the plurality of sensors 42 of the sensor array 41to emit detection waves and to form three-dimensional print dataincluding hardness information using the received reflected waves, andmay include a sensor controller 51, an image processor 52, a hardnessprocessor 53, a color processor 57, a print data processor 54, aninput-output unit 55, and a memory 56.

The sensor controller 51 may include various circuitry and/or programmodule(s) configured to control transmitters 42-1 of the plurality ofsensors 42 based on a command input through the input-output unit 55 sothat each of the transmitters 42-1 of the plurality of sensors 42 of thesensor array 41 emits the detection wave, and to control receiver 42-2of the plurality of sensors 42 to receive the reflected wave reflectedfrom the target object. Further, the sensor controller 51 may beconfigured to photograph the target object by controlling the pluralityof camera modules 45 provided at one end of the sensor array 41 based ona command input through the input-output unit 55. As another exampleembodiment, the sensor controller 51 may be configured such that thetransmitters 42-1 of the plurality of sensors 42 perform frequency sweepof the detection waves and the receivers 42-2 thereof receive thereflected waves according to the frequency sweep.

The color processor 57 may include various circuitry and/or programmodule(s) configured to extract color information of the target objectfrom the image captured by the plurality of camera modules 45. Forexample, the color processor 57 may be configured to extractthree-dimensional coordinates (x, y, z) of all the portions of thetarget object 11 and color information corresponding to eachthree-dimensional coordinates from the captured image.

The image processor 52 and the hardness processor 53 may include variouscircuitry and/or program module(s) configured to obtain imageinformation and hardness information of the target object using thereflected waves received by the receivers 42-2 of the plurality ofsensors 42. The configurations of the image processor 52 and thehardness processor 53 to obtain the image information and the hardnessinformation of the target object using the reflected waves received bythe receivers 42-2 of the plurality of sensors 42 are similar to theimage processor 22 and the hardness processor 23 of the sensing devicecapable of detecting hardness 10 as described above; therefore, detaileddescriptions thereof will be omitted.

The print data processor 54 may include various circuitry and/or programmodule(s) configured to provide three-dimensional print data of thetarget object including image information, hardness information, andcolor information of the target object by mapping the three-dimensionalimage information, the hardness information, and the color informationobtained from the image processor 52, the hardness processor 53, and thecolor processor 57.

The input-output unit 55 and the memory 56 are the same as or similar tothe input-output unit 25 and the memory 26 of the sensing device capableof detecting hardness 10 according to the above-described exampleembodiment. Therefore, detailed descriptions thereof are omitted. FIG. 4illustrates an example in which a USB cable 59 is connected to theinput-output unit 55 of the controller 50.

FIG. 6 is a diagram illustrating an example sensing device capable ofdetecting hardness according to another example embodiment of thepresent disclosure.

A sensing device capable of detecting hardness 60 as illustrated in FIG.6 may be configured so that a sensor array 61 is formed in a flat plateshape. For example, a plurality of sensors 62 of the sensor array 61 arearranged substantially in a plane. The sensor array 61 as illustrated inFIG. 6 is formed substantially into a square flat plate shape. In thiscase, a controller (not illustrated) may be disposed behind the sensorarray 61.

The configurations of the plurality of sensors 62 of the sensor array 61and the controller of the sensing device capable of detecting hardness60 as illustrated in FIG. 6 are the same as or similar to the pluralityof sensors 12 and the controller 20 of the sensing device capable ofdetecting hardness 10 according to the above-described exampleembodiment; therefore, detailed descriptions thereof are omitted.

In the above description, the plurality of sensors 12, 42, and 62 of thevarious example sensor arrays 11, 41, and 61 use sensors of the sametype. However, as another example embodiment, the plurality of sensors12, 42, and 62 may include two types of sensors.

FIG. 7 is a perspective view illustrating an example sensing devicecapable of detecting hardness according to another example embodiment ofthe present disclosure including two types of sensors.

Referring to FIG. 7, a sensing device capable of detecting hardness 70according to an example embodiment of the present disclosure may includea sensor array 71 and a controller 80.

The sensor array 71 includes a plurality of sensors 72 and 73 arrangedin a hollow cylindrical shape. The plurality of sensors 72 and 73 mayinclude two types of sensors. For example, the sensor array 71 may beconfigured to include a plurality of first sensors 72 to emit a firstdetection wave and a plurality of second sensors 73 configured to emit asecond detection wave of a different kind from the first detection wave.For example, the first sensors 72 may use a terahertz wave sensor toemit terahertz waves as the first detection wave, and the second sensors73 may use an ultrasonic sensor to emit ultrasonic waves as the seconddetection wave. It will be understood that this is merely an example,and that the disclosure is not limited to these two example types ofsensors.

Further, the plurality of first sensors 72 and the plurality of secondsensors 73 may be alternately arranged in the circumferential directionof the sensor array 71 as illustrated in FIG. 7. In other words, fivefirst sensors 72 may be provided in one row in the longitudinaldirection of the sensor array 71, and five second sensors 73 may beprovided in the next row. Five first sensors 72 may be placed again inthe next row. The arrangement of the plurality of first sensors 72 andthe plurality of second sensors 73 as illustrated in FIG. 7 is only oneexample. Therefore, the plurality of first sensors 72 and the pluralityof second sensors 73 may be arranged in a variety of ways as required.

The controller 80 may include various circuitry and/or programmodule(s), such as, for example, and without limitation, a sensorcontroller, an image processor, a hardness processor, a print dataprocessor, an input-output unit, and a memory. The sensor controller,the image processor, the hardness processor, and the print dataprocessor are similar to the sensor controller 21, the image processor22, the hardness processor 23, and the print data processor 24 of thesensing device capable of detecting hardness 10 according to theabove-described example embodiment except that they are configured toprocess two types of reflected waves received by the receivers of thetwo types of sensors 72 and 73. Therefore, detailed descriptions thereofare omitted. Also, the input-output unit and the memory of thecontroller 80 may be configured in the same manner as the input-outputunit 25 and the memory 26 of the sensing device capable of detectinghardness 10 according to the above-described example embodiment;therefore, the detailed description thereof is omitted. FIG. 7illustrates an example in which a USB cable 89 is connected to theinput-output unit of the controller.

In the above description, the sensing device capable of detectinghardness 10, 40, 60, and 70 is configured as a separate device. However,the sensing device capable of detecting hardness according to an exampleembodiment of the present disclosure may be formed integrally with amobile device.

Hereinafter, a mobile device with a sensing device capable of detectinghardness according to an example embodiment of the present disclosurewill be described in greater detail with reference to the accompanyingdrawings.

FIG. 8 is a diagram illustrating an example mobile device having asensing device capable of detecting hardness according to an exampleembodiment of the present disclosure. FIG. 9 is a perspective viewillustrating an example ultrasonic sensor array that can be used in themobile device of FIG. 8.

Referring to FIG. 8, a mobile device 100 according to an exampleembodiment of the present disclosure may include a camera module 110 anda sensor array 120 capable of detecting hardness. FIG. 8 illustrates anexample in which a smartphone is used as the mobile device 100. However,the mobile device 100 is not limited to a smartphone, but may includevarious types of devices that user can carry. For example, the mobiledevice 100 may include a notebook computer, a tablet computer, asmartphone, or the like.

The camera module 110 may include various camera circuitry and beconfigured to obtain color information of a target object byphotographing an image of the target object. The camera module 110 isthe same as or similar to a camera module that would be understood byone of ordinary skill in the art; therefore, a detailed descriptionthereof is omitted.

The sensor array 120 may be provided adjacent to the camera module 110.In the example embodiment as illustrated in FIG. 8, the camera module110 and the sensor array 120 are provided side by side on the rearsurface of the mobile device 100.

The sensor array 120 is configured so that a plurality of sensors 121are arranged in a matrix form in a flat plate shape. Each of theplurality of sensors 121 includes a transmitter for emitting a detectionwave and a receiver for receiving a reflected wave that the emitteddetection wave is reflected by an object. The plurality of sensors 121of the sensor array 120 are the same as or similar to the plurality ofsensors 12 of the sensing device capable of detecting hardness 10according to the above-described example embodiment; therefore, adetailed description thereof is omitted.

Further, the main body of the mobile device 100 is provided with animage processor, a hardness processor, a color processor, and a printdata processor for controlling the camera module 110 and the sensorarray 120 and obtaining necessary information from the receivedreflected wave. The electronic components, such as various processingcircuitry, ASICs, etc., of the image processor, the hardness processor,the color processor, and the print data processor may be disposed on aprinted circuit board that is provided inside the mobile device 100.

The image processor may be configured to acquire image information ofeach portion of the target object from the reflected waves, that thedetection wave emitted from the transmitter of each of the plurality ofsensors 121 of the sensor array 120 is reflected by the target object,which is received by the receiver of each of the plurality of sensors121, thereby obtaining three-dimensional image data of the targetobject. For example, each portion of the target object may refer, forexample, to each divided portion when the target object 1 is placed in acoordinate space composed of X-axis, Y-axis, and Z-axis and is dividedat a certain resolution as illustrated, for example in FIG. 10. All thedivided portions of the target object 1 may be represented inthree-dimensional coordinates (x, y, z). Accordingly, the image dataobtained by the image processor may be expressed in, for example, avoxel form.

The hardness processor may be configured to obtain hardness informationof each portion of the target object 1 from the above-describedreflected wave received by the receivers of the plurality of sensors121. For example, the hardness processor may be configured to acquirehardness information corresponding to the coordinates of each portion ofthe target object 1 acquired by the image processor from the reflectedwaves.

The color processor may be formed to acquire color information of eachportion of the target object 1 from the image photographed by the cameramodule 110. For example, the color processor may be configured to obtaincolor information corresponding to the coordinates of each portion ofthe target object 1 acquired by the image processor from the imagephotographed by the camera module 110.

The print data processor may be configured to form three-dimensionalprint data by mapping the image data acquired from the image processor,the hardness information acquired from the hardness processor, and thecolor information acquired from the color processor.

For example, the print data processor forms image data including thehardness information by mapping the image data that are represented inthe voxel form and acquired from the image processor and the hardnessinformation acquired from the hardness processor. The image dataincluding the hardness information may be represented by (x, y, z, A).Here, x, y, and z are coordinate values of a specific portion of thetarget object 1, and A represents hardness information as a magnitude ofthe reflected wave of the specific portion of the target object 1.

Further, the print data processor may be configured formthree-dimensional print data including hardness information and colorinformation by mapping the color information of the target object 1acquired from the image photographed by the camera module 110 to theimage data including the hardness information. The three-dimensionalprint data including the hardness information and the color informationmay be represented by (x, y, z, A, C). Here, x, y, and z are coordinatevalues in a voxel form of a specific portion of the target object 1, Ais hardness information as a magnitude of the reflected wave of thespecific portion of the target object 1, and C represents colorinformation of the specific portion of the target object 1.

The three-dimensional print data formed by the print data processor maybe stored in a storage portion of the mobile device 100, for example, amemory, a flash memory, and the like. At this time, thethree-dimensional print data may be stored in the memory in a format of(address, A, C). For example, address represents a storage address ofthe memory in which image data of the voxel form is stored, A representsthe hardness information as the magnitude of the reflected wave, and Crepresents the color information.

The three-dimensional print data stored in the memory of the mobiledevice 100 may be directly transmitted to a three-dimensional printingapparatus 300 (see FIG. 11). The mobile device 100 may be provided witha mobile print application capable of transmitting the three-dimensionalprint data stored in the memory to the three-dimensional printingapparatus 300 and controlling the three-dimensional printing apparatus300 to perform printing. A user can control the three-dimensionalprinting apparatus 300 using the mobile print application provided inthe mobile device 100, thereby printing the target object 1corresponding to the three-dimensional print data of the target object 1formed using the sensing device capable of detecting hardness 120according to an example embodiment of the present disclosure and thecamera module 110 in three-dimensional form.

Also, the three-dimensional print data stored in the memory of themobile device 100 may be stored in a cloud or a Web-hard disk. If a tagis attached to an image of the three-dimensional print data stored in acloud or a Web-hard disk, the user can easily find and print desiredthree-dimensional print data.

In the above description, the three-dimensional print data of the targetobject are formed using the sensing device capable of detecting hardness120 built in the mobile device 100. However, using the sensing devicecapable of detecting hardness 120 embedded in the mobile device 100makes it difficult to print the target object in a completelythree-dimensional form. When the target object is desired to be printedin a complete three-dimensional form, a separate sensing device capableof detecting hardness that can be detachably connected to or attached tothe mobile device 100 may be used.

The sensing device capable of detecting hardness that can be used bybeing connected to or attached to the mobile device 100 may beconfigured similar to the sensing device capable of detecting hardness10 and 40 as illustrated in FIGS. 1 to 5 as described above. However, acontroller of the sensing device capable of detecting hardness that maybe connected to or attached to the mobile device 100 may be configureddifferently from the controller 20 and 50 of the sensing device capableof detecting hardness 10 and 40 as illustrated in FIGS. 1 to 5. Forexample, since the mobile device 100 is provided with the imageprocessor, the hardness processor, the color processor, and the printdata processor, the controller of the sensing device capable ofdetecting hardness, which may be connected to or attached to the mobiledevice 100, may be configured not to separately include these componentsand to use the image processor, the hardness processor, the colorprocessor, and the print data processor provided in the mobile device100 to form the three-dimensional print data.

A sensing device capable of detecting hardness separate from the mobiledevice 100, for example, an external sensing device capable of detectinghardness, may be connected to the mobile device 100 wirelessly or bywire. For example, for wireless connections, Bluetooth, WiFi, zigbee,etc. may be used.

FIG. 9 illustrates a detachable ultrasonic sensor unit 200 that can bedetachably attached to the mobile device 100. A plurality of ultrasonicsensors 202 and a camera module 201 may be provided on the bottomsurface of the detachable ultrasonic sensor unit 200 of FIG. 9. Also, aconnecting portion (e.g., a connector) 204 that can be connected to themobile device 100 is provided on the top surface of the detachableultrasonic sensor unit 200, for example, the surface opposite to thesurface on which the plurality of ultrasonic sensors 202 are provided.The connecting portion 204 is formed to be connectable to the connectingterminal of the mobile device 100. For example, when the mobile device100 is provided with a USB female connector, the connecting portion 204of the detachable ultrasonic sensor unit 200 may be provided, forexample, with a USB male connector.

Accordingly, when the detachable ultrasonic sensor unit 200 asillustrated in FIG. 9 is brought into contact with the surface of thetarget object and then a detection wave is emitted to the target object,a three-dimensional image showing the internal structure of the targetobject may be obtained. The three-dimensional image obtained by thedetachable ultrasonic sensor unit 200 may include hardness informationof the internal structure of the target object.

A three-dimensional printing apparatus that can print athree-dimensional shape using the three-dimensional print data formed bya sensing device capable of detecting hardness according to an exampleembodiment of the present disclosure or a mobile device having the samewill be described in greater detail with reference to FIGS. 11 and 12.

FIG. 11 is a diagram illustrating an example three-dimensional printingapparatus that can output a three-dimensional image including hardnessinformation obtained by a sensing device capable of detecting hardnessaccording to an example embodiment of the present disclosure, and FIG.12 is a block diagram illustrating example the three-dimensionalprinting apparatus of FIG. 11.

Referring to FIGS. 11 and 12, a three-dimensional printing apparatus 300according to an example embodiment of the present disclosure may includea receiving portion 310, a print controller 320, a three-dimensional(3D) print data analyzing portion 330, a material mixing portion 340, aprint head 350, and a print head drive portion 360.

The receiving portion (or receiver) 310 may include various receivingcircuitry configured to receive the three-dimensional print dataincluding hardness information and color information from the sensingdevice capable of detecting hardness 10 and 40 or the mobile device 100as described above. Also, the receiving portion 310 may be configured toreceive the three-dimensional print data including the hardnessinformation and color information from a cloud or a Web hard disk.

The print controller 320 may include various processing circuitryconfigured to control the receiving portion 310 to receive thethree-dimensional print data from an external device such as the sensingdevice capable of detecting hardness 10 or the mobile device 100.Further, the print controller 320 may control the three-dimensionalprint data analyzing portion 330, the print head 350, and the print headdrive portion 360 to print an object corresponding to the receivedthree-dimensional print data in a three-dimensional shape.

The three-dimensional print data analyzing portion 330 may includevarious circuitry and/or program module(s) that analyzes thethree-dimensional print data received from the receiving portion 310,determines the hardness and color of the object to be printed, and sendsthe hardness and color information to the material mixing portion 340.Further, the three-dimensional print data analyzing portion 330 analyzesthe three-dimensional print data to be printed to determine a movementpath of the print head 350, and sends the determined path to the printhead drive portion 360 through the print controller 320.

The material mixing portion 340 may include a mixer configured to form amaterial to be used for printing in accordance with the hardness andcolor information of the target object sent from the three-dimensionalprint data analyzing portion 330. For example, the material mixingportion 340 may include a material selecting portion 341, a colorselecting portion 343, and a mixing portion 345.

The material selecting portion 341 may include various elements, suchas, for example, a plurality of material cartridges 342 accommodatingmaterials having different hardness, select a material cartridge 342filled with a material having a hardness corresponding to the analysisresult of the three-dimensional print data analyzing portion 330 amongthe plurality of material cartridges 342, and supply the material of thematerial cartridge 342 to the mixing portion 345. If there is nomaterial cartridge 342 in which a material corresponding to the hardnessof the object to be printed is stored in the plurality of materialcartridges 342, at least one of the plurality of material cartridges 342may be replaced with a material cartridge 342 filled with a materialhaving a required hardness. As the material, FDM thermoplastic resinsuch as ABS plus, ABSi, ABS-M30, ABS-M30i, ABS-ESDI, FDM Nylon 12,PC-ABS, PC-ISO, PPSF/PPSU, ULTEM9085, etc., or PolyJet photo-curableresin such as digital material, digital ABS, high temperature resistantresin, transparent resin, hard opaque resin, polypropylene-like resin,rubber-like resin, etc. may be used.

The color selecting portion 343 may include various elements formed tosupply a pigment having a color corresponding to the analysis result ofthe three-dimensional print data analyzing portion 330. The colorselecting portion 343 may include a plurality of pigment cartridges forreceiving pigments of different colors. The color selecting portion 343selects a pigment cartridge filled with a pigment having a colorcorresponding to the analysis result of the three-dimensional print dataanalyzing portion 330 in the plurality of pigment cartridges, andsupplies the pigment of the pigment cartridge to the mixing portion 345.If there is no pigment cartridge in which a pigment corresponding to thecolor of the object to be printed is stored in the plurality of pigmentcartridges, at least one of the plurality of pigment cartridges may bereplaced with a pigment cartridge filled with a pigment having arequired color.

As another example, as illustrated in FIG. 11, the color selectingportion 343 may be formed to include four color cartridges includingyellow, green, cyan, and black pigments and a color mixing portion 347that mixes pigments supplied from the yellow, green, cyan, and blackcolor cartridges to form a pigment of required color. The color mixingportion 347 supplies a pigment having a color corresponding to thethree-dimensional print data to the mixing portion 345.

The mixing portion 345 may be configured to mix the material suppliedfrom the material selecting portion 341 and the pigment supplied fromthe color selecting portion 343 to form a material having color andhardness corresponding to the analysis result of the three-dimensionalprint data analyzing portion 330.

The material mixing portion 340 supplies the material having color andhardness corresponding to the three-dimensional print data formed in themixing portion 345 to the print head 350.

The print head drive portion 360 may include various circuitry and/orprogram module(s), such as, for example, a print head driver that movesthe print head 350 in accordance with the movement path of the printhead 350 sent from the three-dimensional print data analyzing portion330. For example, the print head drive portion 360 may be configured tolinearly move the print head 350 in the X, Y, and Z axis directions.Also, the print head drive portion 360 may be configured to rotate theprint head 350 in at least one direction. The print head 350 may beconfigured to rotate around three axes. The print head drive portion 360may be configured as a rectangular coordinate robot that is formed to belinearly movable in X-axis, Y-axis, and Z-axis directions. The printhead drive portion 360 may use a print head drive portion used in aconventional three-dimensional printing apparatus; therefore, a detaileddescription thereof is omitted.

The print head 350 may be configured to form a shape corresponding tothe received three-dimensional print data using the material suppliedfrom the material mixing portion 340. For example, the print head 350may be formed to be connected the above-described material mixingportion 340 and to discharge the material supplied from the materialmixing portion 340. Accordingly, when the print head 350 discharges thematerial supplied from the material mixing portion 340 while being movedby the print head drive portion 360 in a predetermined path, a shapecorresponding to the three-dimensional print data is formed. The printhead 350 may be controlled to be turned on or off by the printcontroller 320. When the print controller 320 turns on the print head350, the material supplied from the material mixing portion 340 isdischarged, and when the print head 350 is turned off, the dischargingof the material is cut off.

The above-described three-dimensional printing apparatus 300 may printan object in a three-dimensional shape. For example, when a half of anapple 1 is photographed by the sensing device capable of detectinghardness 10 as illustrated in FIG. 1, and the three-dimensional printdata of the half of the apple 1 is formed and sent to thethree-dimensional printing apparatus 300, the three-dimensional printingapparatus 300 as illustrated in FIG. 11 may print a half of an apple 401having a shape corresponding to the half of the apple 1 of FIG. 1. FIG.13 illustrates an example of the half of the apple 401 printed by thethree-dimensional printing apparatus 300 according to an exampleembodiment of the present disclosure.

Referring to FIG. 13, the half of the apple 401 printed by thethree-dimensional printing apparatus 300 according to an exampleembodiment of the present disclosure includes peel 403, pulp 404, andseeds 405 in the same or similar way as the real apple 1, and thehardness of the peel 403, the pulp 404, and the seeds 405 are different.Also, when the half of the apple 1 is photographed by the sensing devicecapable of detecting hardness 40 including the camera module 45 asillustrated in FIGS. 4 and 5, the color of the peel 403, the pulp 404,and the seeds 405 of the apple 401 may be printed in the same or similarcolor as the peel 3, the pulp 4, and the seeds 5 of the real apple 1(see FIG. 10).

In the case where terahertz wave sensors or millimeter wave sensors areused as the plurality of sensors of the sensor array and thethree-dimensional print data is formed by photographing an uncut appleusing the frequency sweep, the three-dimensional printing apparatus 300according to an example embodiment of the present disclosure can printan apple 400 having the same shape as a real apple as illustrated inFIG. 14. Accordingly, when the apple 400 formed by the three-dimensionalprinting apparatus 300 according to an example embodiment of the presentdisclosure as illustrated in FIG. 14 is cut in half, the same structureas that of a real apple having the peel 403, the pulp 404, and the seeds405 may be confirmed as illustrated in FIG. 13.

By using a sensing device capable of detecting hardness according to anexample embodiment of the present disclosure, three-dimensional printdata including hardness information or three-dimensional print dataincluding hardness information and color information may be formed.

With a mobile device according to an example embodiment of the presentdisclosure, three-dimensional print data including hardness informationand color information may be formed using a sensing device capable ofdetecting hardness and a camera module.

Also, with a three-dimensional printing apparatus according to anexample embodiment of the present disclosure, an object having hardnessand color similar to those of a real object may be printed using thethree-dimensional print data formed by a sensing device capable ofdetecting hardness and a mobile device as described above.

While the various example embodiments of the present disclosure havebeen described, additional variations and modifications of theembodiments may occur to those skilled in the art once they learn thetechnical features of the present disclosure. Therefore, it is intendedthat the appended claims shall be understood to include both the aboveembodiments and all such variations and modifications that fall withinthe spirit and scope of the disclosure.

What is claimed is:
 1. A sensing device capable of detecting hardnesscomprising: a sensor array comprising a plurality of sensors arranged ina matrix form, wherein each of the plurality of sensors includes atransmitter configured to emit a detection wave and a receiverconfigured to receive a reflected wave; and a controller configured toobtain image information and hardness information of each portion of anobject from reflected waves received by the plurality of sensors, and toform three-dimensional print data by mapping the image information andthe hardness information.
 2. The sensing device capable of detectinghardness of claim 1, wherein the plurality of sensors of the sensorarray are arranged in a plane.
 3. The sensing device capable ofdetecting hardness of claim 1, wherein the plurality of sensors of thesensor array are arranged in a hollow cylindrical shape.
 4. The sensingdevice capable of detecting hardness of claim 3, wherein the sensorarray further comprises a plurality of sensors provided to cover one endof the hollow cylindrical shape.
 5. The sensing device capable ofdetecting hardness of claim 1, further comprising: a plurality of cameramodules provided in the sensor array, each camera module comprising acamera, wherein the controller is configured to obtain color informationof each portion of the object from one or more of the plurality ofcamera modules.
 6. The sensing device capable of detecting hardness ofclaim 1, wherein the sensor array comprises a plurality of first sensorsconfigured to emit a first detection wave, and a plurality of secondsensors configured to emit a second detection wave different from thefirst detection wave.
 7. The sensing device capable of detectinghardness of claim 6, wherein the first detection wave comprises aterahertz wave, and the second detection wave comprises an ultrasonicwave.
 8. The sensing device capable of detecting hardness of claim 5,wherein the controller is configured to form the three-dimensional printdata by mapping the image information, the hardness information, and thecolor information, and to store the three-dimensional print data.
 9. Thesensing device capable of detecting hardness of claim 1, wherein each ofthe plurality of sensors is configured to emit a detection wavecomprising one or more of a terahertz wave, a millimeter wave, and anultrasonic wave.
 10. A mobile device comprising: a camera modulecomprising a camera; a sensor array disposed adjacent to the cameramodule and comprising a plurality of sensors arranged in a matrix form,wherein each of the plurality of sensors includes a transmitterconfigured to emit a detection wave and a receiver configured to receivea reflected wave; and a controller configured to obtain imageinformation and hardness information of each portion of an object fromreflected waves received by the plurality of sensors, to obtain colorinformation of each portion of the object from the camera module, and toform three-dimensional print data by mapping the image information, thehardness information, and the color information.
 11. The mobile deviceof claim 10, wherein the controller is configured to store thethree-dimensional print data.
 12. The mobile device of claim 10, furthercomprising: a cylindrical sensor array detachably connected to themobile device.
 13. The mobile device of claim 12, wherein thecylindrical sensor array comprises a plurality of camera modules. 14.The mobile device of claim 10, further comprising: an ultrasonic sensorarray unit comprising an ultrasonic sensor detachably connected to themobile device.
 15. A three-dimensional printing apparatus, comprising: areceiver comprising receiving circuitry configured to receivethree-dimensional print data from a sensing device capable of detectinghardness; a print controller configured to analyze the three-dimensionalprint data received by the receiver; a material mixing portioncomprising a mixer configured to form a material corresponding to ananalysis result of the print controller; and a print head configured toform a shape corresponding to the received three-dimensional print datausing the material supplied from the material mixing portion, whereinthe sensing device capable of detecting hardness comprises, a sensorarray comprising a plurality of sensors arranged in a matrix form; and acontroller configured to obtain image information and hardnessinformation of each portion of an object from reflected waves receivedby the plurality of sensors, and to form three-dimensional print data bymapping image information and hardness information.
 16. Thethree-dimensional printing apparatus of claim 15, wherein the materialmixing portion comprises, a material selecting portion comprising atleast one material container configured to supply a material havinghardness corresponding to the analysis result of the print controller; acolor selecting portion comprising at least one color pigment containerconfigured to supply a pigment having a color corresponding to theanalysis result of the print controller; and a mixing portion comprisinga mixer configured to form a material having color and hardnesscorresponding to the analysis result of the print controller by mixingthe material supplied from the material selecting portion and thepigment supplied from the color selecting portion.
 17. Thethree-dimensional printing apparatus of claim 16, wherein the materialselecting portion includes a plurality of material cartridgesaccommodating materials having different hardness.
 18. Thethree-dimensional printing apparatus of claim 16, wherein the colorselecting portion includes a plurality of pigment cartridgesaccommodating pigments having different colors.
 19. Thethree-dimensional printing apparatus of claim 15, wherein the receiveris configured to receive the three-dimensional print data from a cloudor a Web hard disk.
 20. The three-dimensional printing apparatus ofclaim 15, wherein the sensing device capable of detecting hardness isprovided in a mobile device having a camera module comprising a camera,and wherein the receiver receives the three-dimensional print data fromthe mobile device.